Intramedullary nail automatic detection equipment and detection method

Abstract

The invention provides automatic detection equipment and detection method for an intramedullary nail. The detection equipment comprises an air pressure chuck, a first transmission assembly and a clamping mechanism. The air pressure chuck is used for clamping the near end and the far end of the intramedullary nail in a switchable manner; the first transmission assembly is connected with the air pressure chuck and comprises a first moving assembly and at least one set of second rotating disc assembly, the first moving assembly can drive the air pressure chuck to move so as to adjust the distance between the intramedullary nail and the clamping jaw disc, and the at least one set of second rotating disc assembly can drive the air pressure chuck to turn over up and down so as to adjust the direction of an axial hole of the intramedullary nail; the clamping mechanism comprises a second transmission assembly and a clamping jaw disc, the clamping jaw disc and the air pressure chuck are arranged at intervals in the first direction X, the clamping jaw disc is provided with at least one clamping jaw assembly, and the second transmission assembly can drive the clamping jaw disc to grab the testing fixture and insert the testing fixture into the axial hole of the intramedullary nail. According to the invention, the axial hole of the intramedullary nail can be automatically detected, the defects of manual detection at present are overcome, and the efficiency and accuracy of intramedullary nail product detection are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and particularly relates to an intramedullary nail automatic detection device and a detection method. Background Art

[0002] Although the registered dimensions of the intramedullary nail are not many, only the length of the intramedullary nail and the outer diameters of its distal and proximal ends, the mating dimensions of the axial holes during the surgical process are also very important and need to be detected. At present, the detection of the axial hole dimensions of the intramedullary nail is mostly manual operation. During the detection process using inspection tools, the following problems often occur: 1. It is easy for the detection personnel to mispick the inspection tool during the selection process, resulting in misjudgment; 2. Although the product specifications of the intramedullary nails are different, some mating dimensions are the same, and it is easy to mix batches during the detection process; 3. There are many types of measuring inspection tools, and the selection process is time-consuming and laborious; 4. Due to too many detection items, some dimensions may be missed; 5. Due to the uneven force of the operator using the inspection tool, the detected data is inaccurate. Summary of the Invention

[0003] The purpose of the present invention is to provide an intramedullary nail automatic detection device and a detection method to at least to some extent solve the technical problems raised in the above background art.

[0004] To achieve the above purpose, the present invention provides the following technical solutions: An intramedullary nail automatic detection device, comprising: A pneumatic chuck, which is arranged along the first direction X in the horizontal direction and is used for switchably clamping the proximal and distal ends of the intramedullary nail; A first transmission component, which is connected to the pneumatic chuck. The first transmission component includes a first moving component and at least one group of second turntable components. The first moving component can drive the pneumatic chuck to move along the first direction X, and at least one group of the second turntable components can drive the pneumatic chuck to turn up and down to adjust the orientation of the axial hole of the intramedullary nail; A clamping mechanism, which includes a second transmission component and a claw chuck connected to each other. The claw chuck and the pneumatic chuck are arranged at intervals along the first direction X. The claw chuck is provided with at least one claw component. The second transmission component can drive the claw chuck to grab the inspection tool and insert the inspection tool into the axial hole of the intramedullary nail.

[0005] The intramedullary nail automatic detection device according to the embodiment of the present invention, the pneumatic chuck is used to clamp the end of the intramedullary nail, the first moving component can drive the pneumatic chuck to move along the first direction X, so as to adjust the distance between the intramedullary nail and the claw disc, at least one group of second turntable components can drive the pneumatic chuck to turn up and down, so as to adjust the orientation of the axial hole of the intramedullary nail, and the second transmission component can drive the claw disc to grab the inspection tool, so that the inspection tool can be inserted into the axial hole of the intramedullary nail, achieving the purpose of automatically detecting the size of the axial hole of the intramedullary nail, overcoming the deficiencies of easy false detection, missed detection, batch mixing, time-consuming and laborious, and inconsistent detection standards in the current manual detection, and improving the efficiency and accuracy of product detection.

[0006] In some embodiments, the first moving component includes a first guide rail, a first slider and a first motor, the pneumatic chuck is connected to the first slider, the first slider is arranged on the first guide rail, the first guide rail is arranged along the first direction X in the horizontal direction, the pneumatic chuck and the claw disc are arranged at intervals along the first direction X, and the pneumatic chuck can slide along the first guide rail, so as to adjust the distance between the pneumatic chuck and the claw disc.

[0007] In some embodiments, the pneumatic chuck includes a chuck sleeve and a driving member, and the driving member can drive the chuck sleeve to open or close, so as to loosen or clamp the end of the intramedullary nail.

[0008] In some embodiments, it further includes an inspection tool bin, the inspection tool bin is used to place a plurality of the inspection tools, and the plurality of inspection tools are placed in layers from top to bottom.

[0009] In some embodiments, a driving member and a driven member connected to each other are arranged in the first guide rail, the output shaft of the first motor is connected to the driving member, the first slider is connected to the driven member, and the first motor can drive the driving member to rotate, so as to drive the driven member to move along the first direction X.

[0010] In some embodiments, the end cap of the inspection tool adopts a hexagonal design.

[0011] In some embodiments, the first transmission component further includes a first turntable component, the first turntable component is connected to the pneumatic chuck, and the rotation of the first turntable component can drive the pneumatic chuck to rotate around the first direction X by itself.

[0012] In some embodiments, the second turntable component is arranged along the second direction Y in the horizontal direction, the second direction Y is perpendicular to the first direction X and perpendicular to the axis direction of the pneumatic chuck, the second turntable component is connected to the pneumatic chuck, and the rotation of the second turntable component can drive the pneumatic chuck to turn up and down, so that the axis direction of the axial hole at the end of the intramedullary nail opposite to the clamped end is parallel to the first direction X.

[0013] In some embodiments, a fourth moving component and a first vision module disposed on the fourth moving component are further included. The first vision module can scan and identify the bending angle of the intramedullary nail being clamped, and the fourth moving component is arranged along the first direction X.

[0014] In some embodiments, the first turntable assembly includes a first turntable and a second motor connected to each other. The second motor can drive the turntable to rotate. The turntable is connected to the pneumatic chuck, and the rotation axis of the turntable is parallel to the first direction X.

[0015] In some embodiments, the second transmission component includes a rotating component. The rotating component can drive the jaw plate to rotate around the vertical direction so that at least one of the jaw components can be switchably aligned with the intramedullary nail.

[0016] In some embodiments, the jaw component includes a connecting arm and a jaw connected to each other. The connecting arm extends in the horizontal direction, and a driving structure is provided in the connecting arm. The driving structure can drive the jaw to rotate around its axis.

[0017] In some embodiments, the rotating component includes a driving gear and an annular guide rail. The jaw plate is disposed on the annular guide rail. The annular guide rail is provided with external teeth meshing with the driving gear. The driving gear is connected to a third motor, and the third motor can drive the driving gear to rotate, thereby driving the annular guide rail and the jaw plate to rotate.

[0018] In some embodiments, the jaw includes two jaw pieces. The inner sides of the two jaw pieces facing each other are flat surfaces, and the driving structure can drive the two jaw pieces to open and close.

[0019] In some embodiments, a second vision module is provided on the jaw plate. The second vision module is located above the connecting arm and is used to scan and identify the axial hole of the intramedullary nail.

[0020] In some embodiments, the rotating component further includes a base and a plurality of positioning members disposed on the base. The driving gear and the annular guide rail are rotatably disposed on the base, and a plurality of the positioning members are all located inside the annular guide rail to limit the movement of the annular guide rail relative to the base.

[0021] In some embodiments, the second transmission component further includes a second moving component. The second moving component is arranged in the horizontal direction. The second moving component is disposed on the upper end surface of the annular guide rail, and the jaw plate is disposed on the upper end surface of the second moving component. The second moving component can drive the jaw plate to move in the horizontal direction.

[0022] In some embodiments, the positioning member includes a roller and a fixed pin shaft. The roller is rotatably sleeved on the fixed pin shaft. The fixed pin shaft is fixedly connected to the base. A circumferential groove is provided on the outer surface of the roller for rolling connection with the annular guide rail.

[0023] In some embodiments, the second transmission assembly further includes a third moving assembly. The third moving assembly is arranged in the vertical direction. The third moving assembly is connected to the base and can drive the base to move up and down.

[0024] In some embodiments, the second transmission assembly further includes a third turntable assembly. The third turntable assembly is connected to the jaw chuck. The third turntable assembly is arranged on the second moving assembly and rotates around the vertical direction, capable of driving the jaw chuck to rotate.

[0025] An intramedullary nail automatic detection method uses the above intramedullary nail automatic detection device, and the operation steps are as follows: 1) Detection of the proximal axial hole of the intramedullary nail: The pneumatic chuck clamps the distal end of the intramedullary nail; At least one group of the second turntable assemblies drives the pneumatic chuck to turn up and down to adjust the orientation of the proximal axial hole of the intramedullary nail; The first moving assembly drives the pneumatic chuck to move along the first direction X; The second transmission assembly can drive the jaw chuck to grab the inspection tool and insert the inspection tool into the proximal axial hole of the intramedullary nail; 2) Detection of the distal axial hole of the intramedullary nail: The pneumatic chuck clamps the proximal end of the intramedullary nail; At least one group of the second turntable assemblies drives the pneumatic chuck to turn up and down to adjust the orientation of the distal axial hole of the intramedullary nail; The first moving assembly drives the pneumatic chuck to move along the first direction X; The second transmission assembly can drive the jaw chuck to grab the inspection tool and insert the inspection tool into the distal axial hole of the intramedullary nail. Description of the Drawings

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those skilled in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0027] Figure 1Cross-sectional view of the intramedullary nail to be detected in the embodiment of the present invention; Figure 2 Overall schematic diagram of the automatic detection device for intramedullary nails in the embodiment of the present invention; Figure 3 Schematic diagram of the cooperation between the pneumatic chuck and the first transmission component in the embodiment of the present invention; Figure 4 Schematic diagram of the cooperation between the jaw chuck and the second transmission component in the embodiment of the present invention; Figure 5 Schematic diagram of the rotating component in the embodiment of the present invention; Figure 6 Schematic diagram of the jaw chuck in the embodiment of the present invention; Figure 7 Schematic diagram of the positioning member in the embodiment of the present invention; Figure 8 Schematic diagram of the inspection tool in the embodiment of the present invention.

[0028] Wherein: 1. Pneumatic chuck; 2. U-shaped bracket; 3. First moving component; 31. First guide rail; 32. First slider; 33. First motor; 4. First turntable component; 41. First turntable; 42. Second motor; 5. Second turntable component; 6. Jaw chuck; 61. Jaw component; 611. Connecting arm; 612. Jaw; 613. Plane; 614. Second vision module; 7. Third turntable component; 8. Second moving component; 9. Third moving component; 10. Rotating component; 101. Driving gear; 102. Third motor; 103. Ring-shaped guide rail; 104. Fixed hole; 11. Base; 12. Positioning member; 121. Fixed pin shaft; 122. Roller; 123. Circumferential groove; 124. Support column; 13. L-shaped bracket; 14. First vision module; 15. Fourth turntable component; 16. Fourth moving component; 17. Inspection tool bin; 18. Inspection tool; 181. I-shaped inspection tool; 182. II-shaped inspection tool; 183. III-shaped inspection tool; 100. Intramedullary nail; 1001. Light hole; 1002. Threaded hole; 1003. U-shaped groove. Detailed implementation manner

[0029] Next, in combination with the accompanying drawings in the embodiments of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0030] Next, refer to Figures 1 - 8 to describe the intramedullary nail automatic detection device according to the embodiments of the present invention.

[0031] The intramedullary nail automatic detection device according to the embodiments of the present invention includes a pneumatic chuck 1, a first transmission assembly, and a clamping mechanism, and is used to detect whether the sizes of the axial holes at the proximal end and the distal end of the intramedullary nail 100 are qualified.

[0032] The pneumatic chuck 1 is used to clamp the proximal end and the distal end of the intramedullary nail 100 switchably, and the pneumatic chuck 1 is arranged along the first direction X in the horizontal direction. The first transmission assembly is connected to the pneumatic chuck 1. The first transmission assembly includes a first moving assembly 3 and at least one group of second turntable assemblies 5. The first moving assembly 3 can drive the pneumatic chuck 1 to move along the first direction X, and at least one group of second turntable assemblies 5 can drive the pneumatic chuck 1 to turn up and down to adjust the orientation of the axial hole of the intramedullary nail 100. The clamping mechanism includes a second transmission assembly and a jaw chuck 6 connected to each other. The jaw chuck 6 and the pneumatic chuck 1 are arranged at intervals along the first direction X. The jaw chuck 6 is provided with at least one jaw assembly 61. The second transmission assembly can drive the jaw chuck 6 to grab the inspection tool 18 and insert the inspection tool 18 into the axial hole of the intramedullary nail 100.

[0033] For the intramedullary nail automatic detection device according to the embodiments of the present invention, the pneumatic chuck 1 is used to clamp the end of the intramedullary nail 100, the first moving assembly 3 is used to adjust the distance between the pneumatic chuck 1 and the jaw chuck 6, at least one group of second turntable assemblies 5 can drive the pneumatic chuck 1 to turn up and down, and can adjust the orientation of the axial hole of the intramedullary nail 100 clamped by the pneumatic chuck 1. The second transmission assembly can drive the jaw chuck 6 to grab the inspection tool 18 and insert the inspection tool 18 into the axial hole of the intramedullary nail 100, achieving the purpose of automatically detecting the size of the axial hole of the intramedullary nail 100, overcoming the deficiencies such as easy misdetection, missed detection, batch mixing, time-consuming and laborious, and inconsistent detection standards in the current manual detection, and improving the efficiency and accuracy of the detection of the intramedullary nail 100 products.

[0034] The intramedullary nail automatic detection device according to the embodiments of the present invention includes a control system. The control system is electrically connected to each component of the intramedullary nail automatic detection device to control the automatic operation of the intramedullary nail automatic detection device. The composition and control principle of the control system are both prior arts and will not be elaborated here.

[0035] As shown Figure 2 in the figure, the first moving component 3 of the embodiment of the present invention includes a first guide rail 31, a first slider 32 and a first motor 33. The pneumatic chuck 1 is connected to the first slider 32. The first slider 32 is arranged on the first guide rail 31. The first guide rail 31 is arranged along the first direction X (as shown by the arrow in Figure 2 the figure) in the horizontal direction. The pneumatic chuck 1 and the jaw chuck 6 are arranged at intervals along the first direction X. The pneumatic chuck 1 can slide along the first guide rail 31, so as to adjust the distance between the pneumatic chuck 1 and the jaw chuck 6. Specifically, the control system is electrically connected to the first motor 33. The control system can start or stop the first motor 33, and further control the movement of the pneumatic chuck 1.

[0036] When loading the end of the intramedullary nail 100 to be detected into the pneumatic chuck 1, in order to avoid interference between the intramedullary nail 100 and the jaw chuck 6, a certain distance is reserved between the pneumatic chuck 1 and the jaw chuck 6 in advance. During detection, it is necessary to adjust the position of the intramedullary nail 100 in the first direction X to approach the jaw chuck 6, so that the inspection tool 18 can be inserted into the axial hole of the intramedullary nail 100. Thus, by setting the first guide rail 31, the first slider 32 and the first motor 33, the first motor 33 can drive the first slider 32 to slide along the first guide rail 31, and further drive the pneumatic chuck 1 and the intramedullary nail 100 connected to the first slider 32 to move along the first direction X, so as to adjust the distance between the free end of the intramedullary nail 100 (i.e., the other end opposite to the clamped end of the intramedullary nail 100) and the inspection tool 18, which is convenient for the installation and detection of the intramedullary nail 100.

[0037] Further, a driving member and a driven member are connected to each other in the first guide rail 31. The output shaft of the first motor 33 is connected to the driving member, and the first slider 32 is connected to the driven member. The first motor 33 can drive the driving member to rotate, so as to drive the driven member to move along the first direction X.

[0038] In the embodiment of the present invention, the driving member is a gear, and the driven member is a rack. The gear is fixedly connected to the output shaft of the first motor 33. The external teeth of the gear are meshed with the rack. The first motor 33 drives the gear to rotate, and the gear drives the rack to move along the first direction X, so as to drive the first slider 32 and the pneumatic chuck 1 connected to the rack to move along the first direction X. In order to avoid interference between the gear and the first slider 32, the gear and the first slider 32 are respectively arranged on both sides of the rack. Thus, by adopting the meshing transmission of the gear and the rack, the transmission process is stable, which can ensure the stable operation of the pneumatic chuck 1 along the first guide rail 31, the noise generated during the operation is small, and the service life of the first guide rail 31 can be prolonged.

[0039] In other embodiments, the driven member can also be a chain; or, the driving member is a pulley, and the driven member is a belt; or, the driving member is a worm wheel, and the driven member is a worm.

[0040] The intramedullary nail automatic detection device according to the embodiment of the present invention, the pneumatic chuck 1 includes a collet and a driving member, and the driving member can drive the collet to open or close to loosen or clamp the end of the intramedullary nail 100.

[0041] Preferably, the driving member can adopt structures such as solenoid valves in the prior art. The specific control principle and control method are both prior art and will not be elaborated here. The driving member is electrically connected to the control system, and the control system can control the opening or closing of the collet through the driving member.

[0042] Preferably, the collet is replaceable to adapt to intramedullary nails 100 of different diameters. The clamping force of the collet is adjustable, which can avoid scratching the surface of the product while ensuring the clamping stability, and the clamping accuracy can reach 0.03 mm. The replaceability of the collet and the adjustability of the clamping force of the collet belong to the prior art and will not be elaborated here.

[0043] The intramedullary nail 100 to be detected belongs to the orthopedic internal fixation device in medical devices and needs to be implanted into the bone marrow cavity for use. As is well known, the bone marrow cavities of people have different degrees of bending, and the shape of the intramedullary nail 100 generally imitates the shape of the bone marrow cavity. Therefore, the intramedullary nail 100 also has a bending angle, such as Figure 1 shown. Due to the characteristic that the intramedullary nail 100 has a bending angle, after one end of the intramedullary nail 100 is loaded into the pneumatic chuck 1, the axis of the axial hole at the free end of the intramedullary nail 100 does not necessarily face the first direction X in the horizontal direction. Only by adjusting the axis of the axial hole at the free end of the intramedullary nail 100 to face the first direction X in the horizontal direction can the inspection tool 18 be inserted into the axial hole of the intramedullary nail 100 for detection.

[0044] Therefore, as Figure 2 shown, the intramedullary nail automatic detection device according to the embodiment of the present invention includes a fourth moving component 16 and a first vision module 14 arranged on the fourth moving component 16. The first vision module 14 can scan and identify the bending angle of the clamped intramedullary nail 100, and the fourth moving component 16 is arranged along the first direction X. Specifically, both the first vision module 14 and the fourth moving component 16 are electrically connected to the control system. The first vision module 14 can feed back the information obtained by scanning the intramedullary nail 100 to the control system, and the control system controls the movement of the first transmission component, and then controls the movement of the pneumatic chuck 1 to adjust the axis of the axial hole at the free end of the intramedullary nail 100 to face the first direction X for easy detection.

[0045] Specifically, the first vision module 14 can be a camera or a camera. The specific working principle is already prior art and will not be elaborated here.

[0046] In this embodiment, the structure and function of the fourth moving component 16 are the same as those of the first moving component 3, including a guide rail, a slider, and a motor, which will not be elaborated here. Among them, the first vision module 14 is connected to the slider, the slider is arranged on the guide rail, and the guide rail is arranged along the first direction X in the horizontal direction.

[0047] Specifically, as Figure 2 shown, the first vision module 14 faces the intramedullary nail 100 and can scan and identify the bending angle and overall view of the intramedullary nail 100 under the drive of the fourth moving component 16.

[0048] The intramedullary nail automatic detection device of the embodiment of the present invention, as Figure 2 and Figure 3 shown, the first transmission component further includes a first turntable component 4. The first turntable component 4 is connected to the pneumatic chuck 1. The rotation of the first turntable component 4 can drive the pneumatic chuck 1 to rotate around the first direction X by itself. Thus, the first turntable component 4 drives the pneumatic chuck 1 to rotate by itself to adjust the axial hole of the free end of the intramedullary nail 100 to face the first direction X.

[0049] Furthermore, the first turntable component 4 includes a first turntable 41 and a second motor 42 that are connected to each other. The second motor 42 can drive the first turntable 41 to rotate. The first turntable 41 is connected to the pneumatic chuck 1, and the rotation axis of the first turntable 41 is parallel to the first direction X. Specifically, the control system is electrically connected to the second motor 42. The control system can start or stop the second motor 42. When the second motor 42 is started, it can drive the first turntable 41 to rotate, and then drive the pneumatic chuck 1 to rotate by itself.

[0050] Specifically, the pneumatic chuck 1 is connected to the U-shaped bracket 2 through the first turntable component 4. The second motor 42 is fixed on the middle arm of the U-shaped bracket 2. The setting of the U-shaped bracket 2 will not interfere with the rotation of the first turntable 41 and the self-rotation movement of the pneumatic chuck 1.

[0051] In the embodiment of the present invention, the output shaft of the second motor 42 is fixedly connected to the driving wheel. The driven wheel is arranged inside the first turntable 41 and is connected to the first turntable 41. The driving wheel and the driven wheel are meshed with each other. The second motor 42 drives the driving wheel to rotate, and the driving wheel drives the driven wheel to rotate. Among them, the driving wheel is a small gear, and the driven wheel is a large gear, which can convert the high-speed rotation of the second motor 42 into the relatively low-speed rotation of the first turntable 41, and then drive the pneumatic chuck 1 to rotate stably around the first direction X. Thus, by adopting the transmission method of gear meshing, the required speed and torque ratio can be achieved, and the rotation of the first turntable 41 and the pneumatic chuck 1 can be ensured to be stable.

[0052] In other embodiments, the first turntable component 4 can also adopt worm and worm gear transmission or belt transmission.

[0053] The intramedullary nail automatic detection device of the embodiment of the present invention, asFigure 2 and Figure 3 As shown in Figure 3 , the second turntable assembly 5 is arranged along the second direction Y in the horizontal direction (as indicated by the arrow in Figure 2 ), the second direction Y is perpendicular to the first direction X and perpendicular to the axial direction of the pneumatic chuck 1; the second turntable assembly 5 is connected to the pneumatic chuck 1, and the rotation of the second turntable assembly 5 can drive the pneumatic chuck 1 to turn up and down, so that the axial direction of the axial hole at the free end of the intramedullary nail 100 is parallel to the first direction X. Specifically, the second turntable assembly 5 is arranged along the second direction Y, the pneumatic chuck 1 is arranged along the first direction X, and the second direction Y is perpendicular to the first direction X. Thus, when the second turntable assembly 5 rotates around the second direction Y, it will drive the connected pneumatic chuck 1 to turn up and down.

[0054] Specifically, the pneumatic chuck 1 is connected to the first moving assembly 3 through the first turntable assembly 4, the U-shaped bracket 2 and the second turntable assembly 5, and the motor of the second turntable assembly 5 is connected to the first slider 32.

[0055] In this embodiment, the structure and function of the second turntable assembly 5 are the same as those of the first turntable assembly 4, including a turntable and a motor connected to each other, which will not be described in detail here. Specifically, the control system is electrically connected to the motor. The control system can start or stop the motor. The turntable is connected to the pneumatic chuck 1, and the turntable is arranged along the second direction Y, so that the rotation axis of the turntable is parallel to the second direction Y and perpendicular to the axial direction of the pneumatic chuck 1. Thus, when the motor drives the turntable to rotate, the turntable will drive the pneumatic chuck 1 to turn up and down.

[0056] In the intramedullary nail automatic detection device according to the embodiment of the present invention, the first turntable assembly 4 can drive the pneumatic chuck 1 to rotate around the first direction X, the rotation of the second turntable assembly 5 can drive the pneumatic chuck 1 to turn up and down, and the first turntable assembly 4 and the second turntable assembly 5 cooperate with each other to adjust the orientation of the axial hole at the free end of the intramedullary nail 100, so that the axial direction of the axial hole at the free end of the intramedullary nail 100 is parallel to the first direction X and coincides with the axial direction of the inspection tool 18 grasped by the claw chuck 6, so that the inspection tool 18 can be inserted into the axial hole of the intramedullary nail 100, improving the accuracy of detection.

[0057] Preferably, as shown in Figure 1 and Figure 2As shown in the figure, two sets of second turntable assemblies 5 are provided. The two sets of second turntable assemblies 5 are respectively arranged on both sides of the pneumatic chuck 1 along the second direction Y. Both sets of second turntable assemblies 5 are electrically connected to the control system. The control system can control the synchronous movement of the two sets of second turntable assemblies 5. The two turntables located on both sides of the pneumatic chuck 1 act on the pneumatic chuck 1 simultaneously, controlling the pneumatic chuck 1 to tilt up or down by a certain angle to ensure the smooth movement of the pneumatic chuck 1. Specifically, the turntables of the second turntable assembly 5 are respectively fixedly connected to the two arms of the U-shaped bracket 2. The rotation of the second turntable assembly 5 drives the U-shaped bracket 2 to move, and thus the pneumatic chuck 1 rotates by a certain angle along with the U-shaped bracket 2.

[0058] Preferably, as Figure 1 and Figure 2 shown, two sets of first moving assemblies 3 are provided. The two sets of first moving assemblies 3 are arranged in parallel and at intervals along the second direction Y. The two sets of second turntable assemblies 5 are respectively connected to the two sets of first moving assemblies 3. Both sets of first moving assemblies 3 are electrically connected to the control system. The control system can control the synchronous movement of the two sets of first moving assemblies 3 to ensure the synchronous sliding of the pneumatic chuck 1 and the second turntable assembly 5 and the smooth operation.

[0059] The intramedullary nail automatic detection device of the embodiment of the present invention, as Figure 2 shown, includes a fourth turntable assembly 15. The fourth turntable assembly 15 is connected to the first vision module 14. The rotation of the fourth turntable assembly 15 can drive the first vision module 14 to turn up and down. Specifically, the fourth turntable assembly 15 is simultaneously connected to the fourth moving assembly 16. Therefore, the fourth turntable assembly 15 and the first vision module 14 can move along the first direction X simultaneously. Thus, the fourth moving assembly 16 and the fourth turntable assembly 15 can cooperate to more conveniently and accurately scan the bending angle and the overall view of the intramedullary nail 100.

[0060] The structure and function of the fourth turntable assembly 15 in this embodiment are the same as those of the first turntable assembly 4, including a turntable and a motor connected to each other. The control system is electrically connected to the motor. The control system can start or stop the motor, which will not be elaborated here.

[0061] In the intramedullary nail automatic detection device of the embodiment of the present invention, the collet chuck 6 is provided with at least one collet assembly 61 for grasping the fixture 18.

[0062] Preferably, as Figure 4 and Figure 6 shown, the collet chuck 6 includes four collet assemblies 61. The four collet assemblies 61 are distributed in a cross shape. The four collet assemblies 61 can simultaneously grasp four different fixtures 18.

[0063] In other embodiments, the number of the collet assemblies 61 can be two, three, five, six, etc.

[0064] Further, the jaw assembly 61 includes a connecting arm 611 and a jaw 612 which are connected to each other. The connecting arm 611 extends in the horizontal direction, and a driving structure is provided inside the connecting arm 611. The driving structure can drive the jaw 612 to rotate self - axially. Thus, the self - rotation of the jaw 612 facilitates the insertion of the inspection tool 18 into the axial hole of the intramedullary nail 100.

[0065] Further, the jaw 612 includes two jaw pieces. The inner sides of the two jaw pieces facing each other are planes 613, and the driving structure can drive the two jaw pieces to open and close. Thus, the openable and closable jaw pieces facilitate the grasping of the inspection tool 18 by the jaw 612.

[0066] The driving structure in this embodiment is electrically connected to the control system. It can drive the jaw 612 to rotate self - axially and can also control the opening and closing of the jaw pieces. The composition and control principle of the driving structure are prior arts and will not be elaborated here.

[0067] In the automatic inspection device for intramedullary nails according to the embodiment of the present invention, a second vision module 614 is provided on the jaw plate 6. The second vision module 614 is located above the connecting arm 611 and is used to scan and identify the axial hole of the intramedullary nail 100.

[0068] Preferably, the jaw plate 6 is provided with a plurality of jaws 612. The axes of the plurality of jaws 612 are all on the same horizontal plane. Thus, the number of the second vision modules 614 can be set to one to meet the requirements.

[0069] As Figures 2 - 5 shown, the second transmission assembly in the embodiment of the present invention includes a rotating assembly 10. The rotating assembly 10 can drive the jaw plate 6 to rotate around the vertical direction so that at least one jaw assembly 61 can be switched to align with the intramedullary nail 100. Thus, it is possible to complete the detection of all axial holes on at least one intramedullary nail 100 by grasping the inspection tool 18 once, improving the detection efficiency.

[0070] Specifically, the rotating assembly 10 is electrically connected to the control system. The control system controls the rotation of the rotating assembly 10 to realize the rotation of the jaw plate 6, so that at least one inspection tool 18 can be switched to insert into the axial hole of the intramedullary nail 100 for detection.

[0071] Preferably, the jaw plate 6 in this embodiment includes four jaw assemblies 61. During use, the control system controls the rotating assembly 10 to rotate at a frequency of 90° / time to realize the switchable detection of the axial hole size of the intramedullary nail 100 by the inspection tool 18. Similarly, in other embodiments, when the jaw plate 6 includes two jaw assemblies 61, the rotating assembly 10 rotates at a frequency of 180° / time; when the jaw plate 6 includes three jaw assemblies 61, the rotating assembly 10 rotates at a frequency of 120° / time, and so on.

[0072] Further, as Figure 5As shown in the figure, the rotating assembly 10 includes a driving gear 101 and an annular guide rail 103. The jaw chuck plate 6 is arranged on the annular guide rail 103. The annular guide rail 103 is provided with external teeth meshing with the driving gear 101. The driving gear 101 is connected to a third motor 102. The third motor 102 can drive the driving gear 101 to rotate, thereby driving the annular guide rail 103 and the jaw chuck plate 6 to rotate, so that a plurality of gauges 18 can be selectively aligned with the axial holes of the intramedullary nail 100.

[0073] Preferably, the driving gear 101 is a small gear, and the annular guide rail 103 is a driven large gear provided with external teeth. When the driving gear 101 drives the annular guide rail 103, it will reduce speed and increase torque to ensure the stable operation of the annular guide rail 103.

[0074] Specifically, the control system is electrically connected to the third motor 102, and the control system can start or stop the third motor 102. In this embodiment, the structure and function of the third motor 102 are the same as those of the first motor 33, and will not be described in detail here.

[0075] The intramedullary nail automatic detection device according to the embodiment of the present invention, as Figure 4 and Figure 5 shown, the rotating assembly 10 includes a base 11 and a plurality of positioning members 12 arranged on the base 11. The driving gear 101 and the annular guide rail 103 are rotatably arranged on the base 11. A plurality of positioning members 12 are all located inside the annular guide rail 103 to limit the movement of the annular guide rail 103 relative to the base 11. Thus, the jaw chuck plate 6 and the rotating assembly 10 are both arranged on the base 11. Due to the limitation of the annular guide rail 103 by a plurality of positioning members 12, the annular guide rail 103 will not move relative to the base 11 when rotating, and always remains in a meshing state with the driving gear 101, ensuring the stable operation of the annular guide rail 103 to ensure the stable operation of the jaw chuck plate 6.

[0076] Furthermore, as Figure 7 shown, the positioning member 12 includes a roller 122 and a fixed pin shaft 121. The roller 122 is rotatably sleeved on the fixed pin shaft 121. The fixed pin shaft 121 is fixedly connected to the base 11. The outer surface of the roller 122 is provided with a circumferential groove 123 for rolling connection with the annular guide rail 103. Thus, the fixed connection of the fixed pin shaft 121 and the base 11 makes the whole positioning member 12 fixed relative to the base 11. The roller 122 is rotatably connected to the fixed pin shaft 121, and the outer surface of the roller 122 is provided with a circumferential groove 123 for rolling connection with the annular guide rail 103, which can realize that the fixed pin shaft 121 of the positioning member 12 restricts the annular guide rail 103 from moving relative to the base 11 in its radial and axial directions. At the same time, the roller 122 of the positioning member 12 can roll with the rotation of the annular guide rail 103 and will not restrict the rotation of the annular guide rail 103 relative to the base 11.

[0077] Further, the circumferential groove 123 provided on the outer surface of the roller 122 is V-shaped, and the annular guide rail 103 is provided with a protrusion, and the protrusion is in rolling connection with the circumferential groove 123, which plays a role in supporting the annular guide rail 103 and enables the annular guide rail 103 not to contact the base 11. Thus, when the annular guide rail 103 has an upward movement tendency during rotation, the V-shaped circumferential groove 123 applies a downward force to the annular guide rail 103 to prevent the annular guide rail 103 from moving upward; when the annular guide rail 103 has a downward movement tendency during rotation, the V-shaped circumferential groove 123 applies an upward force to the annular guide rail 103 to prevent the annular guide rail 103 from sinking and contacting the base 11, which affects the rotation of the annular guide rail 103.

[0078] Further, the positioning member 12 of this embodiment further includes a support column 124. The support column 124 is also rotatably sleeved on the fixed pin shaft 121 and is arranged below the roller 122, which plays a role in supporting the roller 122 and the annular guide rail 103, enables the annular guide rail 103 not to contact the base 11, and avoids interfering with the rotation of the annular guide rail 103. In other embodiments, the roller 122 and the support column 124 can also be integrally formed.

[0079] The intramedullary nail automatic detection device of the embodiment of the present invention, as Figure 2 and Figure 4 shown, the second transmission component includes a second moving component 8. The second moving component 8 is arranged in the horizontal direction, the second moving component 8 is arranged on the upper end surface of the annular guide rail 103, and the jaw chuck 6 is arranged on the upper end surface of the second moving component 8. The second moving component 8 can drive the jaw chuck 6 to move in the horizontal direction. Thus, it is convenient to horizontally move and clamp the inspection tool 18, and horizontally move the inspection tool 18 grabbed by the jaws 612 close to the intramedullary nail 100 for detection.

[0080] Specifically, the control system is electrically connected to the second moving component 8. The control system can control the operation of the second moving component 8, and further control the movement of the jaw chuck 6 in the horizontal direction. In this embodiment, the structure and function of the second moving component 8 are the same as those of the first moving component 3, including a guide rail, a slider, and a motor, which will not be elaborated here.

[0081] Preferably, a plurality of fixing holes 104 are provided on the upper end surface of the annular guide rail 103, and the second moving component 8 can be selectively fixed in some of the fixing holes 104. Thus, the installation position of the second moving component 8 on the annular guide rail 103 is selective. In addition, the setting of the plurality of fixing holes 104 can also reduce the weight.

[0082] The intramedullary nail automatic detection device of the embodiment of the present invention, as Figure 2 and Figure 4As shown, the second transmission assembly further includes a third moving assembly 9. The third moving assembly 9 is arranged in the vertical direction. The third moving assembly 9 is connected to the base 11, and the third moving assembly 9 can drive the base 11 to move up and down. Thus, the height of the collet chuck 6 can be adjusted to align the fixture 18 clamped by the collets 612 with the axial hole of the intramedullary nail 100 for detection.

[0083] Specifically, the control system is electrically connected to the third moving assembly 9. The control system can control the operation of the third moving assembly 9, and further control the vertical movement of the collet chuck 6 to adjust the height of the fixture 18. In this embodiment, the structure and function of the third moving assembly 9 are the same as those of the first moving assembly 3, including a guide rail, a slider and a motor, which will not be elaborated here.

[0084] Furthermore, the base 11 and the third moving assembly 9 are fixedly connected through an L-shaped bracket 13. To improve the running stability of the base 11 and the rotating assembly 10 and the collet chuck 6 fixed on the base 11, the length of the side plate of the L-shaped bracket 13 connected to the base 11 can be lengthened.

[0085] In other embodiments, a set of the third moving assembly 9 and the L-shaped bracket 13 can also be added on the other opposite side of the base 11.

[0086] The items to be detected for the intramedullary nail 100 include, but are not limited to, the optical hole 1001 at the distal end axially of the intramedullary nail 100, the threaded hole 1002 and the U-shaped groove 1003 at the proximal end axially of the intramedullary nail 100. Refer to Figure 1 Therefore, the fixtures 18 for detection include, but are not limited to, different models of type I fixtures 181, type II fixtures 182, and type III fixtures 183, as Figure 8 shown.

[0087] Among them, the type I fixture 181 includes different models of go / no-go gauge combinations. The rod parts of the go / no-go gauges are smooth and are used to detect the optical hole 1001. The detection of an optical hole 1001 of a certain size requires a set of type I fixtures 181, that is, a set of go / no-go gauge combinations. Except for the different diameters of the rod parts of the go gauge and the no-go gauge, the rest of the go gauge and the no-go gauge are the same. The diameter of the rod part of the go gauge is the minimum value of the diameter of the optical hole 1001, and the diameter of the rod part of the no-go gauge is the maximum value of the diameter of the optical hole 1001. In a set of go / no-go gauge combinations, only when the go gauge can be inserted into the optical hole 1001 and the no-go gauge cannot be inserted into the optical hole 1001, the size of the optical hole 1001 is qualified.

[0088] The type II fixture 182 includes different models of thread go gauge / thread no-go gauge combinations. The rod parts of the thread go gauge / thread no-go gauges are provided with threads and are used to detect the threaded hole 1002. Similarly, when the thread go gauge can be inserted into the threaded hole 1002 and the thread no-go gauge cannot be inserted into the threaded hole 1002, the size of the threaded hole 1002 is qualified.

[0089] The type III gauge 183 includes U-groove profiling plug / go-no-go plug combinations of different models for detecting the U-groove 1003. Similarly, the U-groove profiling plug can be inserted into the U-groove 1003, and the U-groove profiling no-go plug cannot be inserted into the U-groove 1003. If the U-groove 1003 meets these conditions, its size is qualified.

[0090] Furthermore, the end cap of the gauge 18 is designed in a hexagonal shape. The inner sides of the two claw pieces of the claw 612 for grasping the gauge 18 are flat surfaces 613, which is convenient for grasping the gauge 18. The hexagonal design of the end cap of the gauge 18 is superior to the cylindrical design because, with the inner sides of the two claw pieces of the claw 612 being flat surfaces 613, when radially grasping a cylindrical gauge 18, there is a tendency for the gauge 18 to swing left and right, affecting the detection. The hexagonal design of the end cap of the gauge 18 is also superior to the quadrilateral design because the number of graspable positions of the hexagon increases and they are relatively close to each other. The claw 612 only needs to rotate a small angle to grasp the gauge 18.

[0091] The intramedullary nail automatic detection device according to the embodiment of the present invention further includes a gauge bin 17 for placing a plurality of gauges 18. The plurality of gauges 18 are arranged in layers from top to bottom, which is convenient for the claw 612 to accurately grasp.

[0092] The operation process of the intramedullary nail automatic detection device according to the embodiment of the present invention is as follows: 1. Detection of the proximal axial hole of the intramedullary nail 100: The pneumatic chuck 1 clamps the distal end of the intramedullary nail 100. At least one group of second turntable assemblies 5 drives the pneumatic chuck 1 to flip up and down to adjust the orientation of the proximal axial hole of the intramedullary nail 100. The first moving assembly 3 drives the pneumatic chuck 1 to move along the first direction X. The second transmission assembly can drive the claw disc 6 to grasp the gauge 18 and insert the gauge 18 into the proximal axial hole of the intramedullary nail 100.

[0093] This embodiment specifically includes: Step 1. The control system identifies the model of the intramedullary nail 100 to be detected or the model of the intramedullary nail 100 is manually input into the control system. Step 2. Manually load the distal end of the intramedullary nail 100 into the chuck sleeve of the pneumatic chuck 1, and the control system controls the chuck sleeve to close to clamp the intramedullary nail 100. Step 3. The control system controls the fourth moving assembly 16 and the fourth turntable assembly 15 to move, and then controls the first vision module 14 to move to scan and identify the bending angle of the clamped intramedullary nail 100. Step 4. The information obtained by the first vision module 14 scanning the intramedullary nail 100 is fed back to the control system, and the control system controls the movement of the first turntable assembly 4 and the second turntable assembly 5, and then cooperatively controls the movement of the pneumatic chuck 1 to adjust the axial direction of the proximal axial hole of the intramedullary nail 100 to the first direction X in the horizontal direction; Step 5. The control system controls the movement of the first moving assembly 3 to move the intramedullary nail 100 to be detected closer to the chuck plate 6; Step 6. According to the program setting, the control system controls the movement of the rotating assembly 10, the second moving assembly 8, the third moving assembly 9 and the third turntable assembly 7, and then controls the chuck plate 6 to perform three-dimensional (rotation, up and down, front and back) movement to grab the required type II jig 182 and type III jig 183 from the jig bin 17; Step 7. The control system controls the movement of the third moving assembly 9 to enable the second vision module 614 to recognize the axial threaded hole 1002 of the intramedullary nail 100; Step 8. The control system controls the movement of the rotating assembly 10, the second moving assembly 8 and the third turntable assembly 7, and the chuck 612 holds the jig 18 to detect the threaded hole 1002 and the U-shaped groove 1003 at the proximal end of the intramedullary nail 100 in turn, and the detection results will be displayed on the device screen.

[0094] II) Detection of the distal axial hole of the intramedullary nail 100: The pneumatic chuck 1 holds the proximal end of the intramedullary nail 100; At least one group of the second turntable assemblies 5 drives the pneumatic chuck 1 to turn up and down to adjust the orientation of the distal axial hole of the intramedullary nail 100; The first moving assembly 3 drives the pneumatic chuck 1 to move along the first direction X; The second transmission assembly can drive the chuck plate 6 to grab the jig 18 and insert the jig 18 into the distal axial hole of the intramedullary nail 100.

[0095] This embodiment specifically includes: Step 1. The control system controls the movement of the first moving assembly 3 to move the intramedullary nail 100 away from the chuck plate 6; Step 2. The control system controls the collet of the pneumatic chuck 1 to loosen, and manually installs the proximal end of the intramedullary nail 100 into the collet of the pneumatic chuck 1, and the control system controls the collet to clamp the intramedullary nail 100 again; Step 3. The control system controls the movement of the fourth moving assembly 16 and the fourth turntable assembly 15, and then controls the movement of the first vision module 14 to scan and identify the bending angle of the clamped intramedullary nail 100; Step 4. The information obtained by the first vision module 14 scanning the intramedullary nail 100 is fed back to the control system, and the control system controls the movement of the first turntable assembly 4 and the second turntable assembly 5, and then cooperatively controls the movement of the pneumatic chuck 1 to adjust the axial direction of the distal axial light hole 1001 of the intramedullary nail 100 to the first direction X in the horizontal direction; Step 5. The control system controls the movement of the first moving assembly 3, and the intramedullary nail 100 to be detected approaches the chuck plate 6 to adjust the distance between the intramedullary nail 100 and the chuck plate 6; Step 6. According to the program setting, the control system controls the movement of the rotating assembly 10, the second moving assembly 8, the third moving assembly 9 and the third turntable assembly 7, and then controls the chuck plate 6 to perform three-dimensional (rotation, up and down, front and back) movement, puts the type II gauge 182 and the type III gauge 183 into the gauge bin 17, and grabs the required type I gauge 181 from the gauge bin 17; Step 7. The control system controls the movement of the third moving assembly 9 so that the second vision module 614 can identify the axial light hole 1001 of the intramedullary nail 100; Step 8. The control system controls the movement of the rotating assembly 10, the second moving assembly 8 and the third turntable assembly 7, and the chuck 612 holds the gauge 18 to detect the light hole 1001 at the distal end of the intramedullary nail 100 axially, and the detection result will be displayed on the screen of the device.

[0096] III) Detection equipment reset Step 1. The control system controls the movement of the first moving assembly 3 to move the intramedullary nail 100 away from the chuck plate 6; Step 2. The control system controls the collet of the pneumatic chuck 1 to loosen, and the operator takes out the intramedullary nail 100; Step 3. The control system controls the movement of the rotating assembly 10, the second moving assembly 8, the third moving assembly 9 and the third turntable assembly 7, and controls the chuck plate 6 to perform three-dimensional (rotation, up and down, front and back) movement to put the gauge 18 back into the gauge bin 17.

[0097] Step 4. The control system program is closed to end the detection.

[0098] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the system or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0099] Furthermore, the terms "first", "second", "third", and "fourth" are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first", "second", "third", or "fourth" may explicitly or implicitly include at least one of such features. In the description of the present invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise specifically and explicitly defined.

[0100] In the present invention, unless otherwise clearly specified and defined, terms such as "mounted", "connected", "coupled", "fixed", etc. shall be construed broadly. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection, an electrical connection, or capable of communicating with each other; it may be directly connected, or indirectly connected through an intermediate medium, and it may be the internal communication of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0101] In the present invention, unless otherwise clearly specified and defined, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over", and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "below", and "beneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0102] Finally, it should be noted that the above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

Claims

1. An automatic detection device for intramedullary nails, characterized in that: include: A pneumatic chuck, arranged along a first horizontal direction X, for switchably clamping the proximal end and the distal end of the intramedullary nail; a first transmission assembly, the first transmission assembly being connected to the pneumatic chuck, the first transmission assembly comprising a first moving assembly and at least one set of second turntable assemblies, the first moving assembly being capable of driving the pneumatic chuck to move along the first direction X, and at least one set of the second turntable assemblies being capable of driving the pneumatic chuck to flip up and down to adjust the orientation of the axial hole of the intramedullary nail; The clamping mechanism comprises a second transmission assembly and a claw plate connected to each other, the claw plate and the pneumatic chuck are arranged at intervals along the first direction X, the claw plate is provided with at least one claw assembly, and the second transmission assembly can drive the claw plate to grasp the gauge and insert the gauge into the axial hole of the intramedullary nail.

2. The automatic intramedullary nail detection device according to claim 1, characterized in that: The first moving assembly includes a first guide rail, a first slider and a first motor, the pneumatic chuck is connected to the first slider, the first slider is arranged on the first guide rail, the first guide rail is arranged along the first direction X, and the pneumatic chuck can slide along the first guide rail to adjust the distance between the intramedullary nail and the claw plate; And / or, the pneumatic chuck comprises a collet and a driving member, and the driving member can drive the collet to open or close to loosen or clamp the end of the intramedullary nail; And / or, it also includes a gauge bin, which is used to place a plurality of the gauges, and the plurality of the gauges are placed in layers from top to bottom.

3. The automatic intramedullary nail detection device according to claim 2, characterized in that: The first guide rail is provided with a driving member and a driven member connected to each other, the output shaft of the first motor is connected to the driving member, the first slider is connected to the driven member, and the first motor can drive the driving member to rotate, thereby driving the driven member to move along the first direction X; And / or, the end cap of the inspection fixture adopts a hexagonal design.

4. The automatic intramedullary nail detection device according to claim 1, characterized in that: The first transmission assembly further includes a first turntable assembly, the first turntable assembly is connected to the pneumatic chuck, and the rotation of the first turntable assembly can drive the pneumatic chuck to rotate around the first direction X; And / or, the second turntable assembly is arranged along a second direction Y in the horizontal direction, the second direction Y is perpendicular to the first direction X, and perpendicular to the axial direction of the pneumatic chuck, the second turntable assembly is connected to the pneumatic chuck, and the rotation of the second turntable assembly can drive the pneumatic chuck to flip up and down, so that the axial direction of the axial hole of the other end of the intramedullary nail opposite to the clamped end is parallel to the first direction X; And / or, it also includes a fourth movable component and a first visual module arranged on the fourth movable component, the first visual module can scan and identify the bending angle of the clamped intramedullary nail, and the fourth movable component is arranged along the first direction X.

5. The automatic intramedullary nail detection device according to claim 4, characterized in that: The first turntable assembly includes a first turntable and a second motor connected to each other, the second motor can drive the first turntable to rotate, the first turntable is connected to the pneumatic chuck, and the rotation axis of the first turntable is parallel to the first direction X.

6. The automatic intramedullary nail detection device according to claim 1, characterized in that: The second transmission assembly includes a rotating assembly, which can drive the jaw disk to rotate around a vertical direction so that at least one of the jaw assemblies can be switchably aligned with the intramedullary nail; And / or, the claw assembly includes a connecting arm and a claw that are connected to each other, the connecting arm extends in a horizontal direction, and a driving structure is provided in the connecting arm, and the driving structure can drive the claw to rotate along its axis.

7. The automatic intramedullary nail detection device according to claim 6, characterized in that: The rotating assembly includes a driving gear and an annular guide rail, the claw plate is arranged on the annular guide rail, the annular guide rail is provided with external teeth meshing with the driving gear, the driving gear is connected to a third motor, and the third motor can drive the driving gear to rotate, thereby driving the annular guide rail and the claw plate to rotate; And / or, the claw comprises two claw pieces, the inner sides of the two claw pieces facing each other are planes, and the driving structure can drive the two claw pieces to open and close; And / or, a second visual module is provided on the claw plate, and the second visual module is located above the connecting arm and is used for scanning and identifying the axial hole of the intramedullary nail.

8. The automatic intramedullary nail detection device according to claim 7, characterized in that: The rotating assembly further comprises a base and a plurality of positioning members arranged on the base, the driving gear and the annular guide rail are rotatably arranged on the base, and the plurality of positioning members are all located on the inner side of the annular guide rail to limit the movement of the annular guide rail relative to the base; And / or, the second transmission assembly also includes a second movable assembly, the second movable assembly is arranged in a horizontal direction, the second movable assembly is arranged on the upper end surface of the annular guide rail, and the claw plate is arranged on the upper end surface of the second movable assembly, and the second movable assembly can drive the claw plate to move in a horizontal direction.

9. The automatic intramedullary nail detection device according to claim 8, characterized in that: The positioning member comprises a roller and a fixed pin, the roller is rotatably sleeved on the fixed pin, the fixed pin is fixedly connected to the base, and the outer surface of the roller is provided with a circumferential groove which is rollingly connected to the annular guide rail; And / or, the second transmission assembly further includes a third moving assembly, the third moving assembly is arranged in a vertical direction, the third moving assembly is connected to the base, and the third moving assembly can drive the base to move up and down; And / or, the second transmission assembly further comprises a third turntable assembly, the third turntable assembly is connected to the claw disk, the third turntable assembly is arranged on the second moving assembly and rotates around a vertical direction, and can drive the claw disk to rotate.

10. An automatic detection method for intramedullary nails, using the automatic detection device for intramedullary nails according to any one of claims 1 to 9, characterized in that: The steps are as follows: 1) Detection of the proximal axial hole of the intramedullary nail: The pneumatic chuck clamps the distal end of the intramedullary nail; At least one set of the second turntable assembly drives the pneumatic chuck to flip up and down to adjust the orientation of the proximal axial hole of the intramedullary nail; The first moving assembly drives the pneumatic chuck to move along the first direction X; The second transmission assembly can drive the claw plate to grab the inspection tool and insert the inspection tool into the proximal axial hole of the intramedullary nail; II) Detection of the distal axial hole of the intramedullary nail: The pneumatic chuck clamps the proximal end of the intramedullary nail; At least one set of the second turntable assembly drives the pneumatic chuck to flip up and down to adjust the orientation of the distal axial hole of the intramedullary nail; The first moving assembly drives the pneumatic chuck to move along the first direction X; The second transmission assembly can drive the claw plate to grab the gauge and insert the gauge into the distal axial hole of the intramedullary nail.

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